Commissioning
EL922x
121
Version: 1.0
Index 1600 OCP RxPDO-Map Inputs
Index (hex) Name
Meaning
Data type
Flags
Default
1600:0
OCP RxPDO-Map In-
puts
PDO Mapping TxPDO 1
UINT8
RO
0x03 (16
dec
)
1600:01
SubIndex 001
1. PDO Mapping entry (object 0x7000 (Outputs
Ch.1), entry 0x01 (Control__Reset))
UINT32
RO
0x7000:01, 1
1600:02
SubIndex 002
2. PDO Mapping entry (object 0x7000 (Outputs
Ch.1), entry 0x02 (Control__Switch))
UINT32
RO
0x7000:02, 1
1600:03
SubIndex 003
3. PDO Mapping entry (14 bits align)
UINT32
RO
0x0000:00, 14
Index 1C32 SM output parameter (part 1)
Index (hex) Name
Meaning
Data type
Flags
Default
1C32:0
SM output parameter Synchronization parameters for the outputs
UINT8
RO
0x20 (32
dec
)
1C32:01
Sync mode
Current synchronization mode:
• 0: Free Run
• 1: Synchron with SM 2 Event
• 2: DC-Mode - Synchron with SYNC0 Event
• 3: DC-Mode - Synchron with SYNC1 Event
UINT16
RW
0x0001 (1
dec
)
1C32:02
Cycle time
Cycle time (in ns):
• Free Run: Cycle time of the local timer
• Synchron with SM 2 Event: Master cycle time
• DC mode: SYNC0/SYNC1 Cycle Time
UINT32
RW
0x000F4240
(1000000
dec
)
1C32:03
Shift time
Time between SYNC0 event and output of the out-
puts (in ns, DC mode only)
UINT32
RO
0x00000000 (0
dec
)
1C32:04
Sync modes sup-
ported
Supported synchronization modes:
• Bit 0 = 1: free run is supported
• Bit 1 = 1: Synchron with SM 2 Event is
supported
• Bit 2-3 = 01: DC mode is supported
• Bit 4-5 = 10: Output shift with SYNC1 Event
(only DC mode)
• Bit 14 = 1: dynamic times (measurement
through writing of 1C32:08)
UINT16
RO
0x0C07 (3079
dec
)
1C32:05
Minimum cycle time
Minimum cycle time (in ns)
UINT32
RO
0x0003D090
(250000
dec
)
1C32:06
Calc and copy time
Minimum time between SYNC0 and SYNC1 event (in
ns, DC mode only)
UINT32
RO
0x00000000 (0
dec
)
1C32:07
Minimum delay time
Min. time between SYNC1 event and output of the
outputs (in ns, DC mode only)
UINT32
RO
0x00000000 (0
dec
)
